cmake_minimum_required(VERSION 3.0.2)
project(wmr_plan_manage)

set(CMAKE_BUILD_TYPE "Release")
set(CMAKE_CXX_FLAGS "-std=c++11")
set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g")

find_package(catkin REQUIRED COMPONENTS
        bezier
        bezier_opt
        env_edt
        fast_marching
        roscpp
        std_msgs
        wmr_nav
        vis_rviz
        pos_generator
        insprobe_msgs
        topo_prm
        bspline
        bspline_opt
        active_location_path
        )
find_package(Eigen3 REQUIRED)
find_package(PCL REQUIRED)

catkin_package(
        INCLUDE_DIRS include
#        LIBRARIES wmr_plan_manage
        CATKIN_DEPENDS
        bezier
        bezier_opt
        env_edt
        fast_marching
        roscpp
        std_msgs
        pos_generator
        wmr_nav
        vis_rviz
        topo_prm
        bspline
        bspline_opt
        active_location_path
        #  DEPENDS system_lib
)

include_directories(
        include
        ${catkin_INCLUDE_DIRS}
        ${EIGEN3_INCLUDE_DIR}
        ${PCL_INCLUDE_DIRS}
        ${PROJECT_SOURCE_DIR}/third_party
)

add_executable(plan_node
        src/plan_node.cpp
        src/planner_manager.cpp)

target_link_libraries(plan_node
        ${catkin_LIBRARIES}
        )
